version: 66.11
glider: 190
mission: 6
dive: 39
start: 9 26 112 14 2 11
data:
$ID,190
$MISSION,6
$DIVE,39
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12079.427
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260912,135459,2432.935,-3801.743,15,1.2,15,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.2
$GPS2,260912,140141,2432.904,-3801.715,14,1.0,15,-14.0
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.6,513,-27.2,-10.000,-30.00
$D_GRID,360
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.09,-63.0,0.0,0.0,0,55,0.00,0.00,-32.20,0.000,2,0.000,0.000,141,1795,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.11,-97.3,2.1,-2.7,3,121,11.80,1.83,-41.22,0.000,4,0.435,0.112,2515,2845,3388,0,0,0,0,0,0,14.57,14.76,14.98
$GC,347,-1.11,-97.3,43.0,-19.9,31,354,0.00,1.85,0.00,0.000,6,0.000,0.086,2515,1790,3391,0,0,0,0,0,0,28.83,14.79,28.83
$GC,653,-1.11,-97.3,94.9,-14.4,62,658,0.00,1.77,0.00,0.000,4,0.000,0.083,2509,2847,3389,0,0,0,0,0,0,28.83,14.86,28.83
$GC,749,-1.11,-97.3,109.7,-16.7,71,756,0.00,1.83,0.00,0.000,6,0.000,0.086,2508,1786,3390,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1056,-1.11,-97.3,161.7,-16.8,102,1061,0.00,1.88,0.00,0.000,4,0.000,0.108,2508,722,3391,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1098,-1.11,-97.3,168.8,-16.5,106,1104,0.12,1.80,0.00,0.000,6,0.325,0.066,2526,1794,3389,0,0,0,0,0,0,14.76,14.90,28.83
$GC,1412,-1.14,-97.3,211.0,-12.3,137,1418,0.00,1.77,0.00,0.000,4,0.000,0.083,2519,2835,3391,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1569,-1.17,-97.3,231.0,-13.5,152,1576,0.00,1.80,0.00,0.000,6,0.000,0.087,2519,1788,3391,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1876,-1.20,-97.3,278.5,-15.1,171,1881,0.00,1.85,0.00,0.000,4,0.000,0.112,2519,729,3391,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1938,-1.23,-97.3,288.2,-15.2,173,1943,0.00,1.77,0.00,0.000,6,0.000,0.070,2511,1788,3391,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2271,-1.25,-97.3,335.5,-13.5,184,2276,0.00,1.80,0.00,0.000,4,0.000,0.090,2508,2854,3389,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2357,-1.28,-97.3,343.7,-13.0,186,2365,0.00,1.83,0.00,0.000,6,0.000,0.090,2508,1789,3389,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,2482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2482,begin apogee
$GC,2486,-0.19,0.0,363.5,-13.3,191,2578,1.10,0.00,84.30,1.349,6,0.250,0.000,2819,1477,2985,0,0,0,0,0,0,14.83,28.83,14.04
$STATE,2579,end apogee,CONTROL_FINISHED_OK
$STATE,2580,begin climb
$GC,2581,1.11,97.3,366.1,0.0,194,2669,1.27,0.00,83.80,1.267,6,0.126,0.000,3241,1476,2592,0,0,0,0,0,0,14.51,28.83,13.92
$GC,2963,1.13,97.3,330.4,10.7,207,2969,0.00,1.92,0.00,0.000,4,0.000,0.126,3250,418,2581,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3026,1.15,97.3,323.4,10.9,209,3032,0.00,1.80,0.00,0.000,6,0.000,0.066,3250,1486,2580,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3360,1.18,105.7,292.0,9.1,220,3365,0.00,0.00,2.38,0.516,6,0.000,0.000,3249,1485,2558,0,0,0,0,0,0,28.83,28.83,14.16
$GC,3659,1.20,105.7,262.1,10.3,230,3665,0.00,2.00,1.50,0.187,4,0.000,0.125,3257,417,2559,0,0,0,0,0,0,28.83,14.88,14.88
$GC,3804,1.20,105.7,244.7,12.2,236,3811,0.00,1.80,1.58,0.183,6,0.000,0.067,3258,1489,2558,0,0,0,0,0,0,28.83,14.92,14.87
$GC,4118,1.20,105.7,209.0,12.0,267,4124,0.00,1.85,1.50,0.184,4,0.000,0.086,3258,2542,2557,0,0,0,0,0,0,28.83,14.90,14.86
$GC,4352,1.20,108.7,185.7,9.7,290,4364,0.00,1.90,3.00,0.815,6,0.000,0.103,3263,1469,2550,0,0,0,0,0,0,28.83,14.87,14.14
$GC,4662,1.21,117.8,157.1,9.0,321,4684,0.00,1.83,14.65,1.316,4,0.000,0.083,3262,2534,2503,0,0,0,0,0,0,28.83,14.82,14.16
$GC,4866,1.21,117.8,132.6,12.2,341,4871,0.00,1.88,0.00,0.000,6,0.000,0.103,3273,1479,2501,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5179,1.21,122.3,95.7,9.5,372,5186,0.00,1.90,0.98,0.202,4,0.000,0.122,3282,412,2490,0,0,0,0,0,0,28.83,14.84,14.83
$GC,5383,1.19,122.3,75.0,10.7,392,5389,0.00,1.75,0.00,0.000,6,0.000,0.062,3282,1481,2499,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5697,1.22,161.5,52.8,5.8,423,5723,0.00,1.90,20.62,0.272,4,0.000,0.118,3295,419,2334,0,0,0,0,0,0,28.83,14.82,14.72
$GC,5951,1.22,169.3,32.7,9.2,448,5962,0.00,1.77,5.62,0.204,6,0.000,0.062,3290,1484,2299,0,0,0,0,0,0,28.83,14.88,14.77
$STATE,6239,end climb,SURFACE_DEPTH_REACHED
$STATE,6239,begin surface coast
$FINISH,0.8,1.005781
$STATE,6271,end surface coast,CONTROL_FINISHED_OK
$STATE,6271,begin surface
$SM_CCo,6289,85.70,0.126,0,0,1560,350.04
$SM_GC,1.86,8.95,0.52,85.70,0.086,0.085,0.126,139,1787,1560,-8.54,-0.90,350.04,0,0,0,0,0,0,14.90,14.90,14.83
$IRIDIUM_FIX,2427.58,-3803.31,260912,111159
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.67
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.80
$XPDR_PINGS,6
$SC_FREEKB,7755040
$TM_FREEKB,7556352
$24V_AH,13.9,19.961
$10V_AH,14.1,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.250,45.175,219.925,85.700,0.000,0.000,0.000,231.425,1.500,0.000,16.352,1516.697,3352.729,399.040,1427.375,93.760,0.000,1205.282,0.000,1083.647,0.000,0.542,0.000
$DEVICE_MAMPS,435.285,126.225,1349.460,126.225,0.000,0.000,0.000,179.775,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6274.000,4206.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.483,13.329,0.000,0.000
$MEM,344944
$DATA_FILE_SIZE,16782,480
$CAP_FILE_SIZE,98600,0
$CFSIZE,260034560,249999360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068, 99.5,1
$GPS,260912,154935,2433.073,-3802.101,28,0.9,28,-14.0